Robotic gripping device having linkage actuated finger sections

Details Robotic gripping device having linkage actuated finger sections Robotic gripping device having linkage actuated finger sections

1987-11-18

1989-05-30

Pedder, Dennis H.

Handling: hand and hoist-line implements

Grapple

Pivoted jaws

901 38, 901 39, B66C 128, B25J 1512

Patent

active

048344435

ABSTRACT:
A gripping device which simulates the action of a human finger comprises three pivotted sections 3, 5, 7 having the middle section 5 linked to the tip section 7 by a bar 9 so that its rotation causes rotation of the tip section. Rotation of the lower section 3 is preferentially effected by a motor 11 via a sliding cross-head 15, an equalizer bar 18 and a rod 19. If this rotation is stopped by an object 25 to be gripped, the drive transfers via rod 20, crank 21 and rod 23 to the middle section 5, causing the middle and tip sections to rotate and grip the object against the lower portion as shown at 26. A robotic hand comprising four such fingers and a thumb is usable as a substitute for a human hand in a glove-box glove.

REFERENCES:
patent: 2464577 (1949-03-01), Hobbs
patent: 3694021 (1972-09-01), Mullen
patent: 4094016 (1978-06-01), Eroyan
patent: 4246661 (1981-01-01), Pinson

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